Esercitazione con un robot umanoide programmabile per edutainment Giancarlo Teti RoboTech srl

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1 2008/2009 A.A. Corso di Percezione Robotica Modulo D: Applicazioni ed Esercitazioni Lezione D.I Esercitazione con un robot umanoide programmabile per edutainment Giancarlo Teti RoboTech srl

2 RoboTech srl RoboTech srl is an academic spin-off company of 2004 infoundedsant AnnaSuperioreScuola by an associate Professor of Biomedical Robotics and a research assistant of the ARTS Lab RoboTech mission: Long-term vision: service and personal robotics Short-term target: edutainment robotics

3 RoboTech Expertise Design and development of robotic systems for entertainment and education electronic modules firmware and software systems for acquisition and processing of sensory data ICT facilities based on main existing standards

4 I-Droid 01Humanoid Robot I-Droid 01 is distributed worldwide as a collection in newspaper kiosks by De Agostini, Italian publisher with branches in 30 countries

5 Italy (2 launching, Aug. 2005/Aug. 2006) Poland (Mar. 2006) Japan (Mar. 2006) Spain (Sep. 2006) Netherlands (Jan. 2007) Portugal (Mar. 2007) Belgium (Jan. 2008)

6 I-Droid 01 Humanoid Robot 8 Dof: - base 2 - trunk 1 - arms 2 - head 2 - hand 1 7 Encoders 4 Microphones 1 CMOS camera 1 Touch sensor 3 US sensors 2 IR sensors 1 Temperature sensor 24 Led 1 Universal remote controller

7 RED, GREEN AND YELLOW ( 3+3 ) EYES LED CYAN EARS LED 2 DOF HEAD WITH ENCODERS 1 DOF ARMS WITH ENCODERS UP/DOWN MECHANISM PASSIVE ELBOW JOINT 1 PASSIVE REAR WHEEL 2 ACTIVE FRONTAL WHEELS WITH ENCODERS

8 TEMPERATURE SENSOR ( BACKPACK ) TOUCH SENSOR DISPLAY AND KEYBOARD CMOS CAMERA MICROPHONES (SOUND ( DETECTION MICROPHONES (SPEECH ( RECOGNITION 6 ADDITIONAL GPIO (GENERAL PURPOSE IO ( AI 4 DIO, 2 SPEAKER ULTRASOUND SENSORS (2 TRASMITTER, ( RECEIVER 3

9 84 speaker independent commands 1 speaker dependent biometric password 220 preloaded phrases and sounds 10 recordable messages 16 secs each Display LCD: 2 raws, 16 columns Batteries: 8 AAA, 1.5V each 4.5V electornics 7.5V motors 4 hours autonomy ADDITIONAL INPUT: 4 Digital Input 0,3V 2 Analog Input 0-3V CMOS Camera sensors: RGB, 0,3 Mega Pixel; max resolution 640x480. standard resolution 160x120. HEAD TILT MOVEMENT: 5 positions HEAD PAN MOVEMENT: 13 position ARMS: 16 positions HAND: 2 positions HIP: 2 positions BASE: Max speed: - 20 cm/s with PID - 30 cm/s without PID

10 I-Droid 01 sensors, motors and components LCD:GDM1602H by Xiamen Ocular Ltd CMOS Sensor: SP 2030x by Sino-Pro Ltd LM35 by National Motors and Encoders IR Receiver: VISHAY TSOP32238 IR Transmitter VISHAY TSAL7600 US Sensors: CUR10G1A-40 & CUT10G1A-40 by ChinaSound LED

11 I-Droid01 Humanoid Robot Technical Specifications Weight: 2 Kg Dof: 8 actuated, 4 not actuated 2 actuated wheels, max speed 30 cm/s 1 actuated hip joint for stand up/sit down movement 2 dof pan/tilt head: 13 pan positions, 5 tilt position 2 dof left and right arm: shoulder actuated, 16 positions 1 dof hand Vocal recognition: 84 "speaker independent" commands 1 "speaker dependent" biometric password Speech Synthesis: 220 pre loaded phrases and sounds Records up to 10 messages, 16 seconds each CMOS Camera sensors: RGB max resolution 640x480 Bluetooth 2.0 module 1 RS-232 (" device ") 1 USB 1 Analogic output (B&V module): PWM, low-pass 8KHz 2 Analogic inputs (Arms module) ( module 4 Digital input/output (Arms Ultrasound sensors: 2 emitters, 3 receivers 1 temperature sensor 2 IR sensors: operative range 20-60cm 1 LCD, 2 rows, 16 columns Batteries: 8 AA, 4 hours autonomy ( typical )

12 I-Droid 01 Humanoid Robot Speech recognition and synthesis capabilities (Voice ( control Image processing and visual recognition capabilities Detection of sound direction Obstacle avoidance (US sensors) capability Emotion and mood expression Behavior based and Neural Network based software control system Remote control by mobile phone and PC via Bluetooth Reprogrammable customuserfor Breadboard circuits development

13 I-Droid01 User Interfaces Voice Control Bluetooth Bluetooth Local PC remote PC

14 I- Droid 01 Interfaces: GUIs for PC and Mobile Phone Based on Java Technology

15 Voice Control 11 wordsets 84 different commands Languages: Italian Japanese Polish Dutch Spanish Portuguese

16 Left wheel Motor + Encoder I-DROID 01 HARDWARE ARCHITECTURE Motor Right wheel Motor + Encoder Hip Motor US sensor receiver IR trasm. US sensor trasm. IR receiver US sensor receiver US sensor trasm. US sensor receiver Left arm Motor + Encoder Right arm Motor + Encoder Left Arm Tool USB RS232 Right Arm Tool GPIO (3DI,3DO,2AI) CMOS camera ( 2 ) Base Led Temperature sensor Pan Motor + encoder Tilt Motor + encoder Left microphone Right microphone Rear microphone Touch Sensor ( 3+3 ) Eyes Led ( L+R ) Ears Led c6 Bluetooth National LMX9830 c7 Voice Sensory RSC4128 Flash 1MB Speaker Microphone RS232 RS232 c8 Hand Freescale QG4 c7 URC Freescale QG8 c5 Brain & Vision Freescale MC9328MXLVF15 ARM9 Architecture - 150Mhz RAM 16MB, Flash 16MB c4 Motherboard Freescale MC68HC908AP8 20Mhz-8KB display Keyboard 3V 4.5V 7.5V I2C BUS c1 Base Controller Freescale MC68HCS909GT16-40Mhz-16KB PWM c2 Arm Controller Freescale MC68HC908AP8 20Mhz-8KB c3 Head Controller Freescale MC68HC908AP8 20Mhz-8KB Sound Follower

17 Left wheel Motor + Encoder Right wheel Motor + Encoder Hip Motor US sensor receiver US sensor trasm. US sensor receiver US sensor trasm. US sensor receiver Left arm Motor + Encoder Right arm Motor + Encoder Left Arm Tool Right Arm Tool GPIO (3DI,3DO,2AI) ( 2 ) Base Led Temperature sensor Pan Motor + encoder Tilt Motor + encoder Left microphone Right microphone Rear microphone Touch Sensor ( 3+3 ) Eyes Led ( L+R ) Ears Led Motor IR trasm. IR receiver USB RS232 CMOS camera I-DROID 01 HARDWARE ARCHITECTURE c6 Bluetooth National LMX9830 RS232 c7 Voice Linux 2.4 Sensory for RSC4128 Flash Arm Processors 1MB with C Compiler (Tiny C) on-board RS232 Speaker Microphone c8 Hand Freescale QG4 c7 URC Freescale QG8 c5 Brain & Vision Freescale MC9328MXLVF15 ARM9 Architecture - 150Mhz RAM 16MB, Flash 16MB c4 Motherboard Freescale MC68HC908AP8 20Mhz-8KB display Keyboard 3V 4.5V 7.5V I2C BUS c1 Base Controller Freescale MC68HCS909GT16-40Mhz-16KB PWM c2 Arm Controller Freescale MC68HC908AP8 20Mhz-8KB c3 Head Controller Freescale MC68HC908AP8 20Mhz-8KB Sound Follower

18 Design and development of I-Droid01 electronic components Motherboard and display controller Arms Controller Base Controller URC Module Bluetooth Module Hand Module Head Controller Voice recognition module based on Sensory Technologies Brain module based on ARM-9 processor with Linux Embedded

19 Software Architecture Operative System: Linux 2.4 for Arm Processors with C Compiler (Tyni C) onboard Two Main Process: System Controller for running robot behaviours User Process for running user programs Multi Treads Architecture A process run for each behaviour and for the main robot functionalities 9 threads run concurrently Robot status is implemented as global structure shared between threads

20 I-DROID01 SOFTWARE ARCHITECTURE Global Structure Thread Object I/O Port Ext Process User Program INPUT PIPE ACK PIPE OUTPUT PIPE Voice Manager ( Thread ) Status Update ( Thread ) BUF Sender ( Thread ) Receiver ( Thread ) BUS I2C I2C Manager System Controller ( Thread ) 0 BUF BUF PC RS232 Bluetooth Manager ( Thread ) 4 BUF BUF Mood Manager CMOS Image Acquisition ( Thread ) 1 DBL BUF Image Processing ( Thread ) 2 BUF Tracking Behavior ( Thread ) 3 BUF

21 I-Droid 01 Programming Three different programming modalities: ( C-like Basic level: graphical/icons (Visual Intermediate level: C-like Advanced level: Java

22 Remote Control (PC/Mobile ( Phone BASIC INTERMEDIATE ADVANCED GUI Visual C-like SDK (Purposively developed) C-like SDK Users SDK Java Programs Translation of Programs in C language JAVA Robot Library PC B&V Bluetooth Download of source programs to μc5 Compilation of programs in executable program Motor commands Sensor Status & Data Sensor Status & Data μc5 System Controller Motor Command

23 Robot Programming: Visual C-like Behaviour based

24 Robot Programming: C-like Automatic translation from Visual C-like to C-like language

25 Additional GPIO and breadboard for user custom circuits development

26 I-Droid 01 games: follow a colored object

27 I-Droid 01 games: find a colored object

28 Contacts Phone: Fax: URL: Giancarlo Teti RoboTech Srl Via Boccioni 1, I Peccioli (Pisa), Italy